The market is definitely there. But, it needs to be able to do a minimum amount of practical things, in about this order: 1. it needs to be able to cook even the most basic of meals, being unable to cook for themselves is usually the main reason someone has to go into a nursing home; 2. being able to clean your average kitchen and bathroom; 3. being able to do basic yard tasks, operating a lawnmower and a snowblower. Those would be the most important, after those get mastered have it equipped to do more niche tasks and entertainment features.
As to when, we have clumsy humanoid robots right now, and AI will supposedly reach human level around 2029. It will just be a task of merging those two between now and then, and getting that robot down to a reasonable cost, which i think would be in the neighborhood of a brand new SUV.
As artificial intelligence advances, we humans will form relationships with our robot helpers and caregivers.
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